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#jira FORT-444042 #rb cedric.caillaud #preflight 62212e4ea00412627d0e1a7b #lockdown michael.lentine #ROBOMERGE-OWNER: max.whitehead #ROBOMERGE-AUTHOR: max.whitehead #ROBOMERGE-SOURCE: CL 19253465 in //UE5/Release-5.0/... via CL 19257870 #ROBOMERGE-BOT: UE5 (Release-Engine-Staging -> Main) (v924-19243027) [CL 19263523 by max whitehead in ue5-main branch]
111 lines
4.5 KiB
C++
111 lines
4.5 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#include "HeadlessChaos.h"
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#include "Chaos/Collision/NarrowPhase.h"
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#include "Chaos/Collision/ParticlePairBroadPhase.h"
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#include "Chaos/Collision/ParticlePairCollisionDetector.h"
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#include "Chaos/Evolution/PBDMinEvolution.h"
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#include "Chaos/ParticleHandle.h"
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#include "Chaos/PBDCollisionConstraints.h"
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#include "Chaos/PBDConstraintRule.h"
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#include "Chaos/PBDRigidParticles.h"
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#include "Chaos/PBDRigidSpringConstraints.h"
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#include "ChaosLog.h"
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namespace ChaosTest
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{
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using namespace Chaos;
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// Check thar spring constraints work with MinEvolution
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GTEST_TEST(MinEvolutionTests, DISABLED_TestSpringConstraints)
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{
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// @todo(ccaulfield): remove template parameters on collisions and other constraints
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using FCollisionConstraints = FPBDCollisionConstraints;
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using FCollisionDetector = FBasicCollisionDetector;
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using FRigidParticleSOAs = FPBDRigidsSOAs;
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using FParticleHandle = FPBDRigidParticleHandle;
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using FParticlePair = TVec2<FGeometryParticleHandle*>;
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// Particles
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FParticleUniqueIndicesMultithreaded UniqueIndices;
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FRigidParticleSOAs ParticlesContainer(UniqueIndices);
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// @todo(ccaulfield): we shouldn't require collisions to use an evolution...
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// Stuff needed for collisions
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TArray<FParticlePair> ActivePotentiallyCollidingPairs;
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TArrayCollectionArray<bool> CollidedParticles;
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TArrayCollectionArray<Chaos::TSerializablePtr<Chaos::FChaosPhysicsMaterial>> ParticleMaterials;
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TArrayCollectionArray<TUniquePtr<Chaos::FChaosPhysicsMaterial>> PerParticleMaterials;
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TArrayCollectionArray<FVec3> ParticlePrevXs;
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TArrayCollectionArray<FRotation3> ParticlePrevRs;
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FCollisionConstraints Collisions(ParticlesContainer, CollidedParticles, ParticleMaterials, PerParticleMaterials, nullptr);
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FBasicBroadPhase BroadPhase(&ActivePotentiallyCollidingPairs, nullptr, nullptr);
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FNarrowPhase NarrowPhase(0, 0, Collisions.GetConstraintAllocator());
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FCollisionDetector CollisionDetector(BroadPhase, NarrowPhase, Collisions);
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TSimpleConstraintRule<FCollisionConstraints> CollisionsRule(1, Collisions);
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// End collisions stuff
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// Springs
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FPBDRigidSpringConstraints Springs;
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TSimpleConstraintRule<FPBDRigidSpringConstraints> SpringsRule(0, Springs);
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// Evolution
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// @todo(ccaulfield): this should start with some reasonable default iterations
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FPBDMinEvolution Evolution(ParticlesContainer, ParticlePrevXs, ParticlePrevRs, CollisionDetector, 0);
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Evolution.SetNumIterations(1);
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Evolution.SetNumPushOutIterations(0);
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Evolution.AddConstraintRule(&SpringsRule);
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Evolution.SetGravity(FVec3(0));
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FReal Dt = 1.0f / 30.0f;
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// Add a couple dynamic particles connected by a spring
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ParticlesContainer.GetParticleHandles().AddArray(&ParticlePrevXs);
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ParticlesContainer.GetParticleHandles().AddArray(&ParticlePrevRs);
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TArray<FParticleHandle*> Particles = ParticlesContainer.CreateDynamicParticles(2);
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// Set up Particles
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// @todo(ccaulfield) this needs to be easier
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Particles[0]->X() = FVec3(-50, 0, 0);
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Particles[0]->M() = 1.0f;
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Particles[0]->I() = TVec3<FRealSingle>(100.0f, 100.0f, 100.0f);
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Particles[0]->InvM() = 1.0f;
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Particles[0]->InvI() = TVec3<FRealSingle>(1.0f / 100.0f, 1.0f / 100.0f, 1.0f / 100.0f);
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Particles[0]->AuxilaryValue(ParticlePrevXs) = Particles[0]->X();
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Particles[0]->AuxilaryValue(ParticlePrevRs) = Particles[0]->R();
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Particles[1]->X() = FVec3(50, 0, 0);
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Particles[1]->M() = 1.0f;
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Particles[1]->I() = TVec3<FRealSingle>(100.0f, 100.0f, 100.0f);
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Particles[1]->InvM() = 1.0f;
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Particles[1]->InvI() = TVec3<FRealSingle>(1.0f / 100.0f, 1.0f / 100.0f, 1.0f / 100.0f);
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Particles[1]->AuxilaryValue(ParticlePrevXs) = Particles[1]->X();
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Particles[1]->AuxilaryValue(ParticlePrevRs) = Particles[1]->R();
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// Spring connectors at particle centres
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TArray<FVec3> Locations =
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{
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FVec3(-50, 0, 0),
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FVec3(50, 0, 0)
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};
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// Create springs
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FPBDRigidSpringConstraintHandle* Spring = Springs.AddConstraint({ Particles[0], Particles[1] }, { Locations[0], Locations[1] }, 0.1f, 0.0f, 60.0f);
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for (int32 TimeIndex = 0; TimeIndex < 1000; ++TimeIndex)
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{
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//UE_LOG(LogChaos, Warning, TEXT("%d: %f %f %f - %f %f %f"), TimeIndex, Particles[0]->X().X, Particles[0]->X().Y, Particles[0]->X().Z, Particles[1]->X().X, Particles[1]->X().Y, Particles[1]->X().Z);
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Evolution.Advance(Dt, 1, 0.0f);
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}
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// Particles should be separated by the spring's rest length
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FVec3 P0 = Particles[0]->X();
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FVec3 P1 = Particles[1]->X();
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FReal Distance01 = (P0 - P1).Size();
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EXPECT_NEAR(Distance01, Spring->GetRestLength(), 0.1f);
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}
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} |